CN206204783U - A kind of wheeled cable detecting robot - Google Patents
A kind of wheeled cable detecting robot Download PDFInfo
- Publication number
- CN206204783U CN206204783U CN201621212733.2U CN201621212733U CN206204783U CN 206204783 U CN206204783 U CN 206204783U CN 201621212733 U CN201621212733 U CN 201621212733U CN 206204783 U CN206204783 U CN 206204783U
- Authority
- CN
- China
- Prior art keywords
- cable
- robot
- gear
- nut
- rolling bearing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of wheeled cable detecting robot, the robot includes upper body, lower body and connection bar assembly, the upper body by upper spider, holddown spring, the screw rod of the spring that is fixed and clamped, rolling bearing A and driven wheels into；The lower body by lower bearing bracket, motor, decelerator, ring flange, gear A, gear B, rolling bearing B and active wheels into；The connection bar assembly is made up of connecting rod, butterfly nut and hexagonal (hexagon)nut.The utility model solves the problems, such as that cable robot is complicated to different-diameter cable compatibility and installation for a long time, the distance of follower and driving wheel holds the state of cable tightly to reach between by adjusting butterfly nut in the position of connecting rod to adjust the upper and lower car body of robot, and then make robot adapt to be climbed on the cable of different-diameter and detected, have the advantages that simple structure, easy for installation, stationarity are good.
Description
Technical field
The utility model belongs to field of special robots, is to be related to one kind to can be used for cable inspection and dimension more specifically
The wheeled cable detecting robot of shield.
Background technology
Cable-stayed bridge is worldwide widely used as the new model of modern bridge, is especially applicable to
The bridge of long span.Outdoor service state is chronically at as the cable of one of cable-stayed bridge main bearing member, undergoes Exposure to Sunlight rain
Drench wind, its polyethylene（PE）Sheath can produce different degrees of hardening and cracking phenomena so that steel tendon in sheath with
Moisture or other acidic materials in air are contacted and corroded；Simultaneously because the influence that wind shake, rain shake can also cause cable
The abrasion of rope inner wire, then causes fracture of wire problem, and these factors can all directly affect the service life of drag-line, to cable-stayed bridge
It is normal using burying serious hidden danger.For reduce cable maintenance cost in use, the service life of extension cable,
Cable is avoided to corrode and change, it is necessary to carry out periodic detection and maintenance.
Early stage drags hanging basket and cable is detected and safeguarded using hoist engine manually, and the operating type mainly lacks
Put and be：1. hanging basket is weighed seven or eight hundred kilograms plus the weight of testing staff, and the course of work easily is caused to scrape and worn to cable rope jacket
Wound, causes steel wire fracture of wire when serious；2. the construction period is long, high cost, detection and safeguards that a bridge block is often up to the several months long；
3. testing staff's work under bad environment, is easily caused security incident generation.Throwing recently as industry to specialized robot technology
Enter research, to occur in that and compress the detection robot that cable continuously climb using electric drive friction pulley.Wheeled robot is can
There is also some while having outstanding advantage by property, efficiency, cost, control mode etc. needs solve problem：Seal force ---
Adhesive force --- the contradiction between driving force, it is desirable to which driving wheel keeps preferably contacting with cable surface, produces suitable friction
Power, mechanism from great, complicated in mechanical structure, install trouble, inconvenient operation, energy ezpenditure greatly, be difficult in adapt to different-diameter
Cable.
The content of the invention
In view of this, for existing cable detecting robot weight is big, complex structure, trouble is installed and is difficult in adapt to not
With the not foot point of diameter cable, the utility model provides a kind of wheeled cable detecting robot.
To solve the above problems, the utility model is adopted the following technical scheme that：
A kind of wheeled cable detecting robot, it is made up of upper body, lower body and connection bar assembly 3 part, upper body
Including upper spider, driven pulley, rolling bearing A, holddown spring and screw rod；Lower body include lower bearing bracket, motor, decelerator,
Ring flange, rolling bearing B, gear A, gear B and driving wheel；Coupling assembly includes connecting rod, butterfly nut and hexagonal (hexagon)nut.
The upper spider and the lower bearing bracket are processed by high-strength aluminium alloy plate material CNC, and center section hollow out mitigates
Own wt.
The ring flange is installed on motor mounting surface, is connected with decelerator by 4 bolts, the deceleration
The base both sides of device are mounted on lower bearing bracket by 2 bolts respectively.
The rolling bearing B is assemblied in capstan drive axle two ends respectively, and each rolling bearing B is respectively by 2 positioning
Post is fixed on lower bearing bracket, and gear B is assemblied in capstan drive axle side by key, and is meshed with gear A, the gear A
It is assemblied on decelerator main shaft by key.
The screw rod is fixed on upper spider by nut, and the holddown spring is respectively sleeved in screw rod, each rolling
Dynamic bearing A is assemblied in driven wheel shaft side respectively, and is separately mounted in 2 screw rods, so that driven pulley and upper spider
Form mobilizable compressive state.
Shape of threads is processed at the connecting rod two ends, and 4 connecting rods are each passed through four corners of lower bearing bracket hole, and and butterfly
Nut and hexagonal (hexagon)nut assembling are fixed, and robot lower body is arranged on cable lower end, and robot upper body is arranged on cable upper end
And four corners of upper spider hole is each passed through 4 connecting rods, and butterfly nut finally is installed in 4 connecting rods respectively, pass through
Butterfly nut position in 4 connecting rods of regulation compresses cable to adjust the distance between driven pulley and driving wheel, makes driven pulley
The frictional force for being enough to overcome robot to conduct oneself with dignity and load is produced with driving wheel and cable, so that robot is adapted in Different Slope
Creeped with the cable of diameter.
Robot can be detected during climbing by carrying high-definition camera testing equipment to cable.
Compared to prior art, the beneficial effects of the utility model are：
（1）Lower bearing bracket is made of high-strength aluminum alloy material on the utility model, is connected by simple connection bar assembly
Connect fixation, reduce overall weight, the devices such as motor are installed by lower bearing bracket, make robot center of gravity be located at cable lower end from
And balance and stability can be remained in crawling process, it is to avoid robot is influenceed to cause in the traveling process of high-altitude by wind-force etc.
Upset.
（2）Before being different from using bolt nut by way of selecting different location holes and connecting installation, the utility model
Step-less adjustment is carried out using butterfly nut collocation connection bar assembly fixation is installed, eliminated and use other subsidiary instruments such as spanner
Complicated installation procedure, installation process is without multiple person cooperational so that the installation of robot is more simple and efficient, while also preferably fitting
Answer the cable of different-diameter.
（3）Using the scheme at the uniform velocity climbed before being different from, the utility model can at any time by changing drive in traveling process
The steering of dynamic motor or rotating speed adjust climb direction and the speed of robot, and its travel rate is 0~18m/min, adapts to cable
Rope inclination angle is 0~90 °.
（4）In the case of accident power-off or power-off, due to the source of running out of steam, motor stops the utility model
Only run, now overcome the robot self gravitation to carry out braking stopping using the auto-lock function of decelerator, so as to prevent robot
The generation of cable accident is rushed caused by straight racing, it is to avoid bridge or maintainer are damaged.
Brief description of the drawings
Fig. 1 is the end-state schematic diagram that the utility model robot is arranged on cable；
Fig. 2 is the front view of the utility model robot；
Fig. 3 is the side view of the utility model robot；
Fig. 4 is the top view of the utility model robot.
Have in figure：1st, upper spider 2, connecting rod 3, butterfly nut 4, holddown spring 5, driven pulley 6, driven
Wheel shaft 7, screw rod 8, rolling bearing A 9, motor 10, ring flange 11, decelerator 12, driving wheel
13rd, capstan drive axle 14, hexagonal (hexagon)nut 15, lower bearing bracket 16, gear A 17, gear B 18, rolling bearing B
19th, locating dowel 20, cable
Specific embodiment
The technical solution of the utility model is described in detail with reference to Figure of description：
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, a kind of wheeled cable detecting robot uses dissection type knot for ease of installation
Structure：It is divided into upper body, lower body and the part of coupling assembly 3, upper body includes upper spider（1）, driven pulley（5）, rolling bearing A
（8）, holddown spring（4）And screw rod（7）；Lower body includes lower bearing bracket（15）, motor（9）, ring flange（10）, decelerator
（11）, rolling bearing B（18）, gear A（16）, gear B（17）And driving wheel（12）；Coupling assembly includes connecting rod（2）, butterfly
Nut（3）And hexagonal (hexagon)nut（14）.
The upper spider（1）With the lower bearing bracket（15）Processed by high-strength aluminium alloy plate material CNC, center section is engraved
Sky mitigates own wt.
The ring flange（10）It is installed on motor（9）On mounting surface, by 4 bolts and decelerator（11）Connection is solid
It is fixed, the decelerator（11）Base both sides be mounted on lower bearing bracket by 2 bolts respectively（15）On.
The rolling bearing B（18）Capstan drive axle is assemblied in respectively（13）Two ends, each rolling bearing B（18）Respectively
By 2 locating dowels（19）It is fixed on lower bearing bracket（15）On, gear B（17）Capstan drive axle is assemblied in by key（13）One
Side, and and gear A（16）It is meshed, the gear A（16）It is assemblied on decelerator main shaft by key.
The screw rod（7）Upper spider is fixed on by nut（1）On, the holddown spring（4）It is respectively sleeved in screw rod
（7）In, each rolling bearing A（8）Driven wheel shaft is assemblied in respectively（6）Side, and it is separately mounted to 2 screw rods（7）In,
So that driven pulley（5）With upper spider（1）Form mobilizable compressive state.
The connecting rod（2）It is processed into shape of threads, 4 connecting rods in two ends（2）It is each passed through lower bearing bracket（15）Four corners
Hole, and and butterfly nut（3）And hexagonal (hexagon)nut（14）Assembling is fixed, and robot lower body is arranged on cable（20）Lower end, machine
People's upper body is arranged on cable（20）Upper end simultaneously makes upper spider（1）Four corners hole is each passed through 4 connecting rods（2）, finally divide
Not in 4 connecting rods（2）Upper installation butterfly nut（3）, by adjusting 4 connecting rods（2）On butterfly nut（3）Position is adjusted
Whole driven pulley（5）With driving wheel（12）Between distance compress cable（20）, make driven pulley（5）And driving wheel（12）With cable
（20）Generation is enough to the frictional force for overcoming robot to conduct oneself with dignity and load, so that robot is adapted in Different Slope and the cable of diameter
Rope（20）On creep.
The state of cable robot installation is finally completed as shown in figure 1, being got on the bus by robot own wt and robot
The holddown spring of body（4）Elastic force, make driving wheel（12）With 2 driven pulleys（5）It is compressed tightly against cable（20）Upper and lower both sides table
Face, produces larger frictional force, robot is suspended on cable（20）On, make motor（9）Operation, its power-conversion is edge
Cable（20）Tractive force, so as to realize that robot can be along cable（20）Creep up and down.By motor（9）, decelerator
（11）, gear A（16）, gear B（17）, capstan drive axle (13) and driving wheel (12) composition dynamical system, by drive electricity
The rotational band mobile robot of machine (9) is climbed on cable (20), function of hovering, and carries high-definition camera testing equipment pair
Cable (20) is detected.
Robotically-driven motor (9) rated speed is 3000rpm, and decelerator (11) speed reducing ratio is 30:1, then after slowing down most
Rotating speed high is 100 turns per minute.By installing decelerator (11) reduction motor (9) velocity of rotation, while lifted driving electricity
Machine（9）Output torque increase carrying load ability, the robot speed of service is maintained at relatively low and controllable state.By slowing down
Device（11）By motor（9）Rotational energy pass through gear A（16）And gear B（17）Engagement be delivered to driving wheel
（12）On, driving wheel（12）And driven pulley（5）Between with cable（20）Remain suitable pressure, driving wheel（12）Rolling
Drive robot crawling.
The motion mode of robot is using cartwheel roll dynamic formula, upper spider（1）Holddown spring（4）By two driven pulleys
（5）With by motor（9）The driving wheel of drive（12）Clamp cable（20）, motor（9）Driving force be converted into machine
People is along cable（20）Parallel tractive force, driving wheel（12）Along cable（20）Scroll-up/down realizes creeping for robot.Due to
Cable（20）Gradient is different, is the robot in balance crawling process, the motor larger by will account for robot proportion（9）
And decelerator（11）Device is arranged on the lower bearing bracket of robot（15）On, make robot along cable（20）Its is heavy when creeping up and down
The heart remains at cable（20）Lower end so that robot in crawling process not because wind-force etc. influence and around cable
（20）Rotation, then keeps poised state.
Above-described embodiment is only further detailed description of the utility model, it is noted that led for this technology
For the those of ordinary skill in domain, on the premise of the utility model know-why is not departed from, can also make it is some improvement or
Equivalent, these carry out the technical side after some conspicuously improved or equivalent to the utility model claim
Case, belongs to protection domain of the present utility model.
Claims (7)
1. a kind of wheeled cable detecting robot, it is made up of upper body, lower body and connection bar assembly 3 part, upper body bag
Include upper spider（1）, driven pulley（5）, rolling bearing A（8）, holddown spring（4）And screw rod（7）；Lower body includes lower bearing bracket（15）、
Motor（9）, ring flange（10）, decelerator（11）, rolling bearing B（18）, gear A（16）, gear B（17）And driving wheel
（12）；Coupling assembly includes connecting rod（2）, butterfly nut（3）And hexagonal (hexagon)nut（14）.
2. wheeled cable detecting robot according to claim 1, it is characterized in that, the upper spider（1）With the lower bearing bracket
（15）Processed by high-strength aluminium alloy plate material CNC, center section hollow out mitigates own wt.
3. wheeled cable detecting robot according to claim 1, it is characterized in that, the ring flange（10）It is installed on driving electricity
Machine（9）On mounting surface, by 4 bolts and decelerator（11）It is connected, the decelerator（11）Base both sides lead to respectively
Cross 2 bolts and be mounted on lower bearing bracket（15）On.
4. wheeled cable detecting robot according to claim 1, it is characterized in that, the rolling bearing B（18）Assemble respectively
In capstan drive axle（13）Two ends, each rolling bearing B（18）Pass through 2 locating dowels respectively（19）It is fixed on lower bearing bracket（15）
On, gear B（17）Capstan drive axle is assemblied in by key（13）Side, and and gear A（16）It is meshed, the gear A
（16）Decelerator is assemblied in by key（11）On main shaft.
5. wheeled cable detecting robot according to claim 1, it is characterized in that, the screw rod（7）Assemble solid by nut
Due to upper spider（1）On, the holddown spring（4）It is respectively sleeved in screw rod（7）In, each rolling bearing A（8）Be assemblied in respectively from
Driving wheel power transmission shaft（6）Side, and it is separately mounted to 2 screw rods（7）In, so that driven pulley（5）With upper spider（1）Formation can live
Dynamic compressive state.
6. wheeled cable detecting robot according to claim 1, it is characterized in that, the connecting rod（2）It is processed into spiral shell in two ends
Line shape, 4 connecting rods（2）It is each passed through lower bearing bracket（15）Four corners hole, and and butterfly nut（3）And hexagonal (hexagon)nut（14）Dress
With fixation, robot lower body is arranged on cable（20）Lower end, robot upper body is arranged on cable（20）Upper end simultaneously makes machine
Frame（1）Four corners hole is each passed through 4 connecting rods（2）, finally respectively in 4 connecting rods（2）Upper installation butterfly nut（3）,
By adjusting 4 connecting rods（2）On butterfly nut（3）Position adjusts driven pulley（5）With driving wheel（12）Between distance come
Compress cable（20）, make driven pulley（5）And driving wheel（12）With cable（20）Generation is enough to overcome robot to conduct oneself with dignity and load
Frictional force, so that robot is adapted in Different Slope and the cable of diameter（20）On creep.
7. wheeled cable detecting robot according to claim 1, it is characterized in that, robot can be by carrying high-definition camera
Head testing equipment is during climbing to cable（20）Detected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621212733.2U CN206204783U (en) | 2016-11-11 | 2016-11-11 | A kind of wheeled cable detecting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621212733.2U CN206204783U (en) | 2016-11-11 | 2016-11-11 | A kind of wheeled cable detecting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206204783U true CN206204783U (en) | 2017-05-31 |
Family
ID=58753530
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621212733.2U Expired - Fee Related CN206204783U (en) | 2016-11-11 | 2016-11-11 | A kind of wheeled cable detecting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206204783U (en) |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107147191A (en) * | 2017-07-07 | 2017-09-08 | 重庆美科华仪科技有限公司 | A kind of charging equipment and its application method |
| CN107315014A (en) * | 2017-06-19 | 2017-11-03 | 武汉理工大学 | A kind of cable surface damage detects positioner |
| CN107401116A (en) * | 2017-07-25 | 2017-11-28 | 武汉理工大学 | Diameter of wire cord adaptive mechanism |
| CN107476188A (en) * | 2017-07-14 | 2017-12-15 | 武汉理工大学 | Wireless control's suspension cable atress detector |
| CN107703207A (en) * | 2017-09-27 | 2018-02-16 | 武汉理工大学 | A kind of suspension cable the cannot-harm-detection device |
| CN107741291A (en) * | 2017-09-27 | 2018-02-27 | 武汉理工大学 | A kind of inclined cable force checking device |
| CN107748027A (en) * | 2017-09-27 | 2018-03-02 | 武汉理工大学 | A kind of stay cable force detects anti-side-tipping mechanism |
| CN109848947A (en) * | 2018-12-13 | 2019-06-07 | 山东康威通信技术股份有限公司 | Watts link mechanism, auxiliary walking stabilizing mechanism, walking mechanism and robot |
| CN109853379A (en) * | 2019-04-01 | 2019-06-07 | 重庆科技学院 | A kind of cable detection robot for cable-stayed bridge of view-based access control model detection |
| CN110333250A (en) * | 2019-07-16 | 2019-10-15 | 国网吉林省电力有限公司电力科学研究院 | A kind of dry-type air-core reactor encapsulating gap climbing robot and its application method |
| CN112373592A (en) * | 2020-11-26 | 2021-02-19 | 重庆大学 | Space ladder climbing robot for high-speed heavy-load transportation |
| CN113022599A (en) * | 2021-02-26 | 2021-06-25 | 深圳市科皓信息技术有限公司 | Cableway type hydrological test carrying robot with automatic pressurizing mechanism |
| CN113428252A (en) * | 2021-08-17 | 2021-09-24 | 深圳市人工智能与机器人研究院 | Cable climbing robot |
| WO2022001319A1 (en) * | 2020-07-01 | 2022-01-06 | 深圳市人工智能与机器人研究院 | Cable-climbing robot |
| CN114438911A (en) * | 2022-03-02 | 2022-05-06 | 周勇杰 | Suspension bridge wire rope is stabilized walking and is patrolled and examined robot |
| CN114875783A (en) * | 2022-01-06 | 2022-08-09 | 长沙理工大学 | Portable cable detection robot that climbs |
| CN114950800A (en) * | 2022-05-07 | 2022-08-30 | 三亚摩根兰德科技发展有限公司 | Wire coating robot |
| CN116620527A (en) * | 2023-05-26 | 2023-08-22 | 武汉船舶职业技术学院 | Primary and secondary formula underwater robot |
-
2016
- 2016-11-11 CN CN201621212733.2U patent/CN206204783U/en not_active Expired - Fee Related
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107315014A (en) * | 2017-06-19 | 2017-11-03 | 武汉理工大学 | A kind of cable surface damage detects positioner |
| CN107147191A (en) * | 2017-07-07 | 2017-09-08 | 重庆美科华仪科技有限公司 | A kind of charging equipment and its application method |
| CN107476188A (en) * | 2017-07-14 | 2017-12-15 | 武汉理工大学 | Wireless control's suspension cable atress detector |
| CN107476188B (en) * | 2017-07-14 | 2019-11-26 | 武汉理工大学 | Wireless control's suspension cable atress detector |
| CN107401116B (en) * | 2017-07-25 | 2019-11-26 | 武汉理工大学 | Diameter of wire cord adaptive mechanism |
| CN107401116A (en) * | 2017-07-25 | 2017-11-28 | 武汉理工大学 | Diameter of wire cord adaptive mechanism |
| CN107703207A (en) * | 2017-09-27 | 2018-02-16 | 武汉理工大学 | A kind of suspension cable the cannot-harm-detection device |
| CN107741291A (en) * | 2017-09-27 | 2018-02-27 | 武汉理工大学 | A kind of inclined cable force checking device |
| CN107748027A (en) * | 2017-09-27 | 2018-03-02 | 武汉理工大学 | A kind of stay cable force detects anti-side-tipping mechanism |
| CN109848947B (en) * | 2018-12-13 | 2020-09-25 | 山东康威通信技术股份有限公司 | Watt link mechanism, auxiliary walking stabilizing mechanism, walking mechanism and robot |
| CN109848947A (en) * | 2018-12-13 | 2019-06-07 | 山东康威通信技术股份有限公司 | Watts link mechanism, auxiliary walking stabilizing mechanism, walking mechanism and robot |
| CN109853379A (en) * | 2019-04-01 | 2019-06-07 | 重庆科技学院 | A kind of cable detection robot for cable-stayed bridge of view-based access control model detection |
| CN109853379B (en) * | 2019-04-01 | 2023-12-26 | 重庆科技学院 | Cable-stayed bridge cable detection robot based on visual detection |
| CN110333250B (en) * | 2019-07-16 | 2024-05-07 | 国网吉林省电力有限公司电力科学研究院 | Dry type air reactor encapsulation gap crawling robot and application method thereof |
| CN110333250A (en) * | 2019-07-16 | 2019-10-15 | 国网吉林省电力有限公司电力科学研究院 | A kind of dry-type air-core reactor encapsulating gap climbing robot and its application method |
| WO2022001319A1 (en) * | 2020-07-01 | 2022-01-06 | 深圳市人工智能与机器人研究院 | Cable-climbing robot |
| CN112373592A (en) * | 2020-11-26 | 2021-02-19 | 重庆大学 | Space ladder climbing robot for high-speed heavy-load transportation |
| CN113022599B (en) * | 2021-02-26 | 2022-11-11 | 深圳市科皓信息技术有限公司 | Cableway type hydrological test carrying robot with automatic pressurization mechanism |
| CN113022599A (en) * | 2021-02-26 | 2021-06-25 | 深圳市科皓信息技术有限公司 | Cableway type hydrological test carrying robot with automatic pressurizing mechanism |
| CN113428252A (en) * | 2021-08-17 | 2021-09-24 | 深圳市人工智能与机器人研究院 | Cable climbing robot |
| CN114875783A (en) * | 2022-01-06 | 2022-08-09 | 长沙理工大学 | Portable cable detection robot that climbs |
| CN114875783B (en) * | 2022-01-06 | 2023-12-08 | 长沙理工大学 | Portable cable climbing detection robot |
| CN114438911B (en) * | 2022-03-02 | 2024-05-07 | 宁波甬桥工程科技有限公司 | Stable walking inspection robot for suspension bridge steel wire rope |
| CN114438911A (en) * | 2022-03-02 | 2022-05-06 | 周勇杰 | Suspension bridge wire rope is stabilized walking and is patrolled and examined robot |
| CN114950800B (en) * | 2022-05-07 | 2023-09-19 | 三亚摩根兰德科技发展有限公司 | Wire coating robot |
| CN114950800A (en) * | 2022-05-07 | 2022-08-30 | 三亚摩根兰德科技发展有限公司 | Wire coating robot |
| CN116620527A (en) * | 2023-05-26 | 2023-08-22 | 武汉船舶职业技术学院 | Primary and secondary formula underwater robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206204783U (en) | A kind of wheeled cable detecting robot | |
| CN201161628Y (en) | Scroll cable detecting robot | |
| CN111891242B (en) | Optical cable inspection robot capable of crossing obstacles | |
| CN105327487B (en) | A kind of hoistable platform and its working method of automatic climbing electric pole | |
| CN202023146U (en) | Cable detection robot for cable-stayed bridge | |
| CN101077439A (en) | Passive reciprocating type population self-help escape system for building | |
| CN104372737A (en) | Detecting robot for cables of cable-stayed bridges | |
| CN108808577B (en) | Power transmission line broken strand repairing tool | |
| CN102071639A (en) | Rolling type cable robot | |
| WO2013060166A1 (en) | Method for on-site installation of vertical-axis wind generator | |
| CN114233577B (en) | Liftable wind power generation device | |
| CN205095356U (en) | Automatic climb lift platform of wire pole | |
| CN212529856U (en) | Wafer type track climbing robot | |
| CN108221662A (en) | A kind of steel truss arch top chord check car and its control system | |
| CN202416171U (en) | Stay cable single cable suspension platform | |
| CN103692436B (en) | Climb cable robot | |
| CN209276056U (en) | A kind of novel air rescue winch | |
| CN201647881U (en) | Rope reeling mechanism for hanging basket | |
| CN204224986U (en) | A kind of cable-stayed bridge cable measuring robots | |
| CN206697833U (en) | A kind of transmission line high-altitude band point operation hoisting tool | |
| CN206886541U (en) | Anti-falling safety device for construction lift fixed point detection resets equipment | |
| CN206447514U (en) | A kind of rotating shaft reverse self-locking mechanism | |
| CN205312886U (en) | Monkey running gear | |
| CN202466433U (en) | Dual-parallel stay cable cape | |
| CN217102762U (en) | Low-altitude-angle adjustable cable crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170531 Termination date: 20171111 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |